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This research introduces novel zero-shot learning techniques for sEMG-based prosthetic control, enabling systems to recognize complex combined movements without additional training data. By leveraging linear interpolation in embedding spaces, the proposed methods achieve significant accuracy gains over existing approaches while reducing the need for extensive dataset collection. The findings advance practical applications of machine learning in assistive robotics by addressing a critical bottleneck in adapting models to new user-specific movement patterns.
Prototype Adaptation for Zero-Shot sEMG Movement Classification
arXiv:2607.25826v1 Announce Type: new Abstract: Surface electromyography (sEMG) enables the control of prostheses, allowing upper-limb amputees to re-gain some hand function. Most current research focuses on recognizing basic movements for prosthesis control. However, in most daily activities, such as opening a door, combined movements are essential. However, collecting training data for all possible combined movements is time-consuming and requires re-training of the model for any new combination. We propose two novel recognition approaches, Compositional Prototype Interpolation (CPI) and Synthetic Adaptation for Prototypes (SAP), that enable zero-shot learning of combined, novel and unseen movements in Prototype Networks after training only with basic movements. Our methods rest on a linear interpolation assumption in the embedding space, which we study by inspecting the geometry of combined motions in signal and embedding space. In experiments on the NearLab and NinaPro DB3 data sets as well as our newly recorded BasCom dataset, our proposed SAP outperforms prior zero-shot learning methods with accuracy improvements on combined movements of more than 20%. This advantage is maintained in online inference experiments in a user study.
Abstract:Surface electromyography (sEMG) enables the control of prostheses, allowing upper-limb amputees to re-gain some hand function. Most current research focuses on recognizing basic movements for prosthesis control. However, in most daily activities, such as opening a door, combined movements are essential. However, collecting training data for all possible combined movements is time-consuming and requires re-training of the model for any new combination. We propose two novel recognition approaches, Compositional Prototype Interpolation (CPI) and Synthetic Adaptation for Prototypes (SAP), that enable zero-shot learning of combined, novel and unseen movements in Prototype Networks after training only with basic movements. Our methods rest on a linear interpolation assumption in the embedding space, which we study by inspecting the geometry of combined motions in signal and embedding space. In experiments on the NearLab and NinaPro DB3 data sets as well as our newly recorded BasCom dataset, our proposed SAP outperforms prior zero-shot learning methods with accuracy improvements on combined movements of more than 20%. This advantage is maintained in online inference experiments in a user study.
Machine Learning (cs.LG)
arXiv:2607.25826 [cs.LG]
(or arXiv:2607.25826v1 [cs.LG] for this version)
https://doi.org/10.48550/arXiv.2607.25826 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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